256 lines
12 KiB
Python
256 lines
12 KiB
Python
#!/usr/bin/env -S ros2 launch
|
|
"""Launch Python example for following a target"""
|
|
|
|
import os
|
|
from ament_index_python import get_package_share_directory
|
|
from launch.launch_description_sources import load_python_launch_file_as_module
|
|
from launch import LaunchDescription
|
|
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, RegisterEventHandler
|
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, Command, FindExecutable
|
|
from launch_ros.actions import Node
|
|
from launch_ros.substitutions import FindPackageShare
|
|
from launch.event_handlers import OnProcessExit
|
|
from launch.actions import OpaqueFunction
|
|
|
|
|
|
def launch_setup(context, *args, **kwargs):
|
|
use_sim_time = LaunchConfiguration("use_sim_time", default=True)
|
|
log_level = LaunchConfiguration("log_level", default='warn')
|
|
rviz_config = LaunchConfiguration('rviz_config', default=os.path.join(get_package_share_directory("draw_svg"), "rviz", "ign_moveit2_examples.rviz"))
|
|
|
|
prefix = LaunchConfiguration('prefix', default='')
|
|
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
|
|
limited = LaunchConfiguration('limited', default=False)
|
|
effort_control = LaunchConfiguration('effort_control', default=False)
|
|
velocity_control = LaunchConfiguration('velocity_control', default=False)
|
|
add_gripper = LaunchConfiguration('add_gripper', default=False)
|
|
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
|
|
dof = LaunchConfiguration('dof', default=6)
|
|
robot_type = LaunchConfiguration('robot_type', default='lite')
|
|
ros2_control_plugin = LaunchConfiguration('ros2_control_plugin', default='gazebo_ros2_control/GazeboSystem')
|
|
|
|
add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
|
|
#geometry_type = LaunchConfiguration('geometry_type', default='box')
|
|
geometry_type = LaunchConfiguration('geometry_type', default='cylinder')
|
|
geometry_mass = LaunchConfiguration('geometry_mass', default=0.05)
|
|
geometry_height = LaunchConfiguration('geometry_height', default=0.1)
|
|
geometry_radius = LaunchConfiguration('geometry_radius', default=0.005)
|
|
geometry_length = LaunchConfiguration('geometry_length', default=0.07)
|
|
geometry_width = LaunchConfiguration('geometry_width', default=0.1)
|
|
geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
|
|
geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
|
|
geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
|
|
geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
|
|
geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
|
|
load_controller = LaunchConfiguration('load_controller', default=True)
|
|
|
|
ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)
|
|
|
|
|
|
ros2_control_plugin = 'gazebo_ros2_control/GazeboSystem'
|
|
controllers_name = 'fake_controllers'
|
|
moveit_controller_manager_key = 'moveit_simple_controller_manager'
|
|
moveit_controller_manager_value = 'moveit_simple_controller_manager/MoveItSimpleControllerManager'
|
|
|
|
# robot moveit common launch
|
|
# xarm_moveit_config/launch/_robot_moveit_common.launch.py
|
|
robot_moveit_common_launch = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_common.launch.py'])),
|
|
launch_arguments={
|
|
'prefix': prefix,
|
|
'hw_ns': hw_ns,
|
|
'limited': limited,
|
|
'effort_control': effort_control,
|
|
'velocity_control': velocity_control,
|
|
'add_gripper': add_gripper,
|
|
# 'add_gripper': add_gripper if robot_type.perform(context) == 'xarm' else 'false',
|
|
'add_vacuum_gripper': add_vacuum_gripper,
|
|
'dof': dof,
|
|
'robot_type': robot_type,
|
|
'no_gui_ctrl': 'false',
|
|
'ros2_control_plugin': ros2_control_plugin,
|
|
'controllers_name': controllers_name,
|
|
'moveit_controller_manager_key': moveit_controller_manager_key,
|
|
'moveit_controller_manager_value': moveit_controller_manager_value,
|
|
'add_other_geometry': add_other_geometry,
|
|
'geometry_type': geometry_type,
|
|
'geometry_mass': geometry_mass,
|
|
'geometry_height': geometry_height,
|
|
'geometry_radius': geometry_radius,
|
|
'geometry_length': geometry_length,
|
|
'geometry_width': geometry_width,
|
|
'geometry_mesh_filename': geometry_mesh_filename,
|
|
'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
|
|
'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
|
|
'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
|
|
'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
|
|
'use_sim_time': 'true'
|
|
}.items(),
|
|
)
|
|
|
|
# robot gazebo launch
|
|
# xarm_gazebo/launch/_robot_beside_table_gazebo.launch.py
|
|
robot_gazebo_launch = IncludeLaunchDescription(
|
|
#PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_gazebo'), 'launch', '_robot_beside_table_gazebo.launch.py'])),
|
|
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('draw_svg'), 'launch', 'robots', 'lite6_table.launch.py'])),
|
|
launch_arguments={
|
|
'prefix': prefix,
|
|
'hw_ns': hw_ns,
|
|
'limited': limited,
|
|
'effort_control': effort_control,
|
|
'velocity_control': velocity_control,
|
|
'add_gripper': add_gripper,
|
|
'add_vacuum_gripper': add_vacuum_gripper,
|
|
'dof': dof,
|
|
'robot_type': robot_type,
|
|
'ros2_control_plugin': ros2_control_plugin,
|
|
'load_controller': 'true',
|
|
}.items(),
|
|
)
|
|
|
|
# URDF
|
|
_robot_description_xml = Command(
|
|
[
|
|
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
|
" ",
|
|
PathJoinSubstitution(
|
|
[FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']
|
|
),
|
|
#PathJoinSubstitution(
|
|
# [
|
|
# FindPackageShare('xarm_description'),
|
|
# "urdf",
|
|
# "lite6",
|
|
# #"lite6.urdf.xacro",
|
|
# "lite6_robot_macro.xacro",
|
|
# ]
|
|
#),
|
|
" ",
|
|
#"name:=", "lite6", " ",
|
|
"prefix:=", " ",
|
|
"hw_ns:=", hw_ns, " ",
|
|
"limited:=", limited, " ",
|
|
"effort_control:=", effort_control, " ",
|
|
"velocity_control:=", velocity_control, " ",
|
|
"add_gripper:=", add_gripper, " ",
|
|
"add_vacuum_gripper:=", add_vacuum_gripper, " ",
|
|
"dof:=", dof, " ",
|
|
"robot_type:=", robot_type, " ",
|
|
"ros2_control_plugin:=", ros2_control_plugin, " ",
|
|
#"ros2_control_params:=", ros2_control_params, " ",
|
|
|
|
"add_other_geometry:=", add_other_geometry, " ",
|
|
"geometry_type:=", geometry_type, " ",
|
|
"geometry_mass:=", geometry_mass, " ",
|
|
"geometry_height:=", geometry_height, " ",
|
|
"geometry_radius:=", geometry_radius, " ",
|
|
"geometry_length:=", geometry_length, " ",
|
|
"geometry_width:=", geometry_width, " ",
|
|
"geometry_mesh_filename:=", geometry_mesh_filename, " ",
|
|
"geometry_mesh_origin_xyz:=", geometry_mesh_origin_xyz, " ",
|
|
"geometry_mesh_origin_rpy:=", geometry_mesh_origin_rpy, " ",
|
|
"geometry_mesh_tcp_xyz:=", geometry_mesh_tcp_xyz, " ",
|
|
"geometry_mesh_tcp_rpy:=", geometry_mesh_tcp_rpy, " ",
|
|
|
|
#"robot_ip:=", robot_ip, " ",
|
|
#"report_type:=", report_type, " ",
|
|
#"baud_checkset:=", baud_checkset, " ",
|
|
#"default_gripper_baud:=", default_gripper_baud, " ",
|
|
]
|
|
)
|
|
# TODO fix URDF loading
|
|
# xacro urdf/xarm_pen.urdf.xacro prefix:= hw_ns:=xarm dof:=6 limited:=false effort_control:=false velocity_control:=false add_gripper:=false add_vacuum_gripper:=false robot_type:=lite ros2_control_plugin:=gazebo_ros2_control/GazeboSystem add_other_geometry:=false geometry_type:=cylinder geometry_mass:=0.05 geometry_height:=0.1 geometry_radius:=0.005 geometry_length:=0.07 geometry_width:=0.1 geometry_mesh_filename:= geometry_mesh_origin_xyz:="0 0 0" geometry_mesh_origin_rpy:="0 0 0" geometry_mesh_tcp_xyz:="0 0 0" geometry_mesh_tcp_rpy:="0 0 0"
|
|
_robot_description_xml = Command(['cat ', PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'lite6.tmp.urdf'])])
|
|
robot_description = {"robot_description": _robot_description_xml}
|
|
# SRDF
|
|
_robot_description_semantic_xml = Command(
|
|
[
|
|
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
|
" ",
|
|
PathJoinSubstitution(
|
|
[
|
|
FindPackageShare('xarm_moveit_config'),
|
|
"srdf",
|
|
#"_lite6_macro.srdf.xacro",
|
|
"xarm.srdf.xacro",
|
|
]
|
|
),
|
|
" ",
|
|
#"name:=", "lite6", " ",
|
|
"prefix:=", " ",
|
|
#"hw_ns:=", hw_ns, " ",
|
|
#"limited:=", limited, " ",
|
|
#"effort_control:=", effort_control, " ",
|
|
#"velocity_control:=", velocity_control, " ",
|
|
#"add_gripper:=", add_gripper, " ",
|
|
#"add_vacuum_gripper:=", add_vacuum_gripper, " ",
|
|
"dof:=", dof, " ",
|
|
"robot_type:=", robot_type, " ",
|
|
#"ros2_control_plugin:=", ros2_control_plugin, " ",
|
|
#"ros2_control_params:=", ros2_control_params, " ",
|
|
|
|
#"add_other_geometry:=", add_other_geometry, " ",
|
|
#"geometry_type:=", geometry_type, " ",
|
|
#"geometry_mass:=", geometry_mass, " ",
|
|
#"geometry_height:=", geometry_height, " ",
|
|
#"geometry_radius:=", geometry_radius, " ",
|
|
#"geometry_length:=", geometry_length, " ",
|
|
#"geometry_width:=", geometry_width, " ",
|
|
#"geometry_mesh_filename:=", geometry_mesh_filename, " ",
|
|
#"geometry_mesh_origin_xyz:=", geometry_mesh_origin_xyz, " ",
|
|
#"geometry_mesh_origin_rpy:=", geometry_mesh_origin_rpy, " ",
|
|
#"geometry_mesh_tcp_xyz:=", geometry_mesh_tcp_xyz, " ",
|
|
#"geometry_mesh_tcp_rpy:=", geometry_mesh_tcp_rpy, " ",
|
|
|
|
#"robot_ip:=", robot_ip, " ",
|
|
#"report_type:=", report_type, " ",
|
|
#"baud_checkset:=", baud_checkset, " ",
|
|
#"default_gripper_baud:=", default_gripper_baud, " ",
|
|
]
|
|
)
|
|
robot_description_semantic = {
|
|
"robot_description_semantic": _robot_description_semantic_xml
|
|
}
|
|
|
|
|
|
|
|
nodes = [
|
|
Node(
|
|
package="draw_svg",
|
|
executable="follow",
|
|
output="log",
|
|
arguments=["--ros-args", "--log-level", log_level],
|
|
parameters=[
|
|
robot_description,
|
|
robot_description_semantic,
|
|
{"use_sim_time": use_sim_time},
|
|
],
|
|
),
|
|
Node(
|
|
package="draw_svg",
|
|
executable="draw_svg.py",
|
|
output="log",
|
|
arguments=["--ros-args", "--log-level", log_level],
|
|
parameters=[{"use_sim_time": use_sim_time}],
|
|
),
|
|
Node(
|
|
package="draw_svg",
|
|
executable="drawing_surface.py",
|
|
output="log",
|
|
arguments=["--ros-args", "--log-level", log_level],
|
|
parameters=[{"use_sim_time": use_sim_time}],
|
|
),
|
|
]
|
|
|
|
return [
|
|
robot_moveit_common_launch,
|
|
robot_gazebo_launch,
|
|
] + nodes
|
|
|
|
|
|
def generate_launch_description():
|
|
return LaunchDescription([
|
|
OpaqueFunction(function=launch_setup)
|
|
])
|